Abstract: In a lane line recognition apparatus, an abnormality determiner is configured to determine whether or not a width of a travel lane defined by left-side and right-side lane lines is abnormal, and a lane-line recognizer is configured to, when the width of the travel lane is not abnormal, recognize both of the left-side and right-side lane lines in a both-side line recognition mode, and when the width of the travel lane is abnormal, recognize one of the lane lines in a one-side line recognition mode. In the one-side line recognition mode, the lane-line recognizer is configured to, for each of the left-side and right-side lane lines, calculate two or more parameters of the lane line, and then integrate recognition results for the respective two or more parameters, and based on the integrated recognition results of the left-side and right-side lane lines, select one of the lane lines to be recognized.

Abstract: An object detection apparatus includes a camera and an ECU. The camera is mounted to a vehicle and captures an image. The ECU is configured to obtain a depth distance for each pixel area of the image based on the image; extract at least one potential object based on the depth distance; calculate an amount of change over time in the depth distance of the at least one potential object; and detect an object around the vehicle from among the at least one potential object using the amount of change over time. When a first potential object and a second potential object that are adjacent in the image are extracted, and a second amount of change over time is twice a first amount of change over time, the second potential object is determined to be the same object as the first potential object.

Abstract: An object estimation apparatus estimates a position and a speed of an object in images based on the images taken by an image taking means from different positions.

Abstract: There is provided an apparatus for generating a disparity map. According to the apparatus, an image acquisition section acquires a right-camera image and a left-camera image which are picked up from mutually different viewpoints by cameras. A disparity map generation section generates a disparity map that includes disparity expressed in terms of a difference in pixel positions between each of pixels and a corresponding one of pixels in the right-camera image and the left-camera image, respectively, as acquired. A weight determination section determines a weight that serves as a degree of contribution to disparity correction, for each of weight-calculation-target pixels composed of surrounding pixels. The weight-calculation-target pixels include a correction-target pixel or surrounding pixels that are present around the correction-target pixel in the disparity map. A disparity map correction section corrects the disparity of the correction-target pixel, using weighted average based on the determined weight.

Abstract: A road surface information acquisition apparatus a lane line recognizer configured to, based on a road surface image of a carpool lane forward of a vehicle acquired by a camera, recognize lane lines of the carpool lane. The apparatus further includes a determiner configured to, based on a lane partition line recognized by the lane line recognizer, determine a start point and an end point of the entrance and exit, and a lane-width calculator configured to, based on the lane lines recognized by the lane line recognizer, calculate a lane width of the carpool lane. The apparatus further includes a lane-width corrector configured to, based on determinations made by the determiner, correct the lane width calculated by the lane-width calculator. Based on a broken line as the lane partition line, the determiner determines the start point and the end point of the entrance and exit of the carpool lane.

Abstract: In a lane line recognition apparatus, an abnormality determiner is configured to determine whether or not a width of a travel lane defined by left-side and right-side lane lines is abnormal, and a lane-line recognizer is configured to, when the width of the travel lane is not abnormal, recognize both of the left-side and right-side lane lines in a both-side line recognition mode, and when the width of the travel lane is abnormal, recognize one of the lane lines in a one-side line recognition mode. In the one-side line recognition mode, the lane-line recognizer is configured to, for each of the left-side and right-side lane lines, calculate two or more parameters of the lane line, and then integrate recognition results for the respective two or more parameters, and based on the integrated recognition results of the left-side and right-side lane lines, select one of the lane lines to be recognized.

Abstract: There is provided an apparatus for generating a disparity map. According to the apparatus, an image acquisition section acquires a right-camera image and a left-camera image which are picked up from mutually different viewpoints by cameras. A disparity map generation section generates a disparity map that includes disparity expressed in terms of a difference in pixel positions between each of pixels and a corresponding one of pixels in the right-camera image and the left-camera image, respectively, as acquired. A weight determination section determines a weight that serves as a degree of contribution to disparity correction, for each of weight-calculation-target pixels composed of surrounding pixels. The weight-calculation-target pixels include a correction-target pixel or surrounding pixels that are present around the correction-target pixel in the disparity map. A disparity map correction section corrects the disparity of the correction-target pixel, using weighted average based on the determined weight.